This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists wrenches, which are propagated through high-level algebraic operations works for any type joints arbitrary parameterizations. second approach Gauss's Principle Least Constraint (GPLC) inc...

For a given vectorial Boolean function F from F2 to itself it was defined an associated Boolean function γF (a, b) in 2n variables by C. Carlet, P. Charpin, V. Zinoviev in 1998 that takes value 1 iff a 6= 0 and equation F (x) +F (x+a) = b has solutions. In this paper we introduce the notion of differentially equivalent functions as vectorial functions that have equal associated Boolean function...

Firstly, we prove a functional relation for the Tornheim double zeta function. Using this functional relation, we obtain simple proofs of some known formulas for special values of Tornheim and Euler-Zagier double zeta functions. Secondly, we obtain functional relations for Witten zeta functions by using a double L-values relation. By these functional relations, we obtain new proofs of known res...

Establishing the CCZ-equivalence of a pair of APN functions is generally quite difficult. In some cases, when seeking to show that a putative new infinite family of APN functions is CCZ inequivalent to an already known family, we rely on computer calculation for small values of n. In this paper we present a method to prove the inequivalence of quadratic APN functions with the Gold functions. Ou...